robokudo.io.camera_interface

Classes

CameraInterface
ROSCameraInterface
KinectCameraInterface

Functions

depth_convert_workaround(msg)

Module Contents

class robokudo.io.camera_interface.CameraInterface(camera_config)

Bases: object

_has_new_data = False

camera_config

rk_logger = None

has_new_data()

abstract set_data(cas: robokudo.cas.CAS)

This method is supposed to read in, convert (if needed) and put the data into the CAS. If you are running a CameraInterface which is getting data via callback methods, please make sure to keep callbacks light and do the main conversion work here! Callbacks should be short.

Parameters:

cas – The CAS where the data should be placed in

class robokudo.io.camera_interface.ROSCameraInterface(camera_config)

Bases: CameraInterface

lookup_transform()

set_o3d_cam_intrinsics_from_ros_cam_info()

robokudo.io.camera_interface.depth_convert_workaround(msg)

class robokudo.io.camera_interface.KinectCameraInterface(camera_config)

Bases: ROSCameraInterface

cam_info_subscriber

color = None

depth = None

cam_info = None

cam_intrinsic = None

color2depth_ratio = None

cam_translation = None

cam_quaternion = None

timestamp = None

lock

compressed_depth_configured()

compressed_color_configured()

callback(color_data, depth_data=None, cam_info=None)

TODO make this generic. handle the encoding and order properly. For standard and compressed images. this might also depend on the fix of image_transport_plugins being published as a package. Startpoint can be found at the bottom of this method.

set_data(cas: robokudo.cas.CAS)

This method is supposed to read in, convert (if needed) and put the data into the CAS. If you are running a CameraInterface which is getting data via callback methods, please make sure to keep callbacks light and do the main conversion work here! Callbacks should be short.

Parameters:

cas – The CAS where the data should be placed in